Skip to content

Instantly share code, notes, and snippets.

@jonmagic
Forked from dmiddlecamp/Adafruit_GPS.cpp
Created April 21, 2018 05:07
  • Star 0 You must be signed in to star a gist
  • Fork 0 You must be signed in to fork a gist
Star You must be signed in to star a gist
Save jonmagic/1e41bbc9918e1e1031b487777deaee1a to your computer and use it in GitHub Desktop.
Spark GPS demo with Adafruit Ultimate GPS breakout
/***********************************
This is our GPS library
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above must be included in any redistribution
****************************************/
#include "Adafruit_GPS.h"
#include "math.h"
#include <ctype.h>
// how long are max NMEA lines to parse?
#define MAXLINELENGTH 120
// we double buffer: read one line in and leave one for the main program
volatile char line1[MAXLINELENGTH];
volatile char line2[MAXLINELENGTH];
// our index into filling the current line
volatile uint8_t lineidx=0;
// pointers to the double buffers
volatile char *currentline;
volatile char *lastline;
volatile boolean recvdflag;
volatile boolean inStandbyMode;
boolean Adafruit_GPS::parse(char *nmea) {
// do checksum check
// first look if we even have one
if (nmea[strlen(nmea)-4] == '*') {
uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
sum += parseHex(nmea[strlen(nmea)-2]);
// check checksum
for (uint8_t i=1; i < (strlen(nmea)-4); i++) {
sum ^= nmea[i];
}
if (sum != 0) {
// bad checksum :(
//return false;
Spark.publish("GPS", "{ error: \"bad checksum\"}", 60, PRIVATE );
}
}
// look for a few common sentences
if (strstr(nmea, "$GPGGA")) {
// found GGA
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
// parse out latitude
p = strchr(p, ',')+1;
latitude = atof(p);
p = strchr(p, ',')+1;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
// parse out longitude
p = strchr(p, ',')+1;
longitude = atof(p);
p = strchr(p, ',')+1;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
p = strchr(p, ',')+1;
fixquality = atoi(p);
p = strchr(p, ',')+1;
satellites = atoi(p);
p = strchr(p, ',')+1;
HDOP = atof(p);
p = strchr(p, ',')+1;
altitude = atof(p);
p = strchr(p, ',')+1;
p = strchr(p, ',')+1;
geoidheight = atof(p);
return true;
}
if (strstr(nmea, "$GPRMC")) {
// found RMC
char *p = nmea;
// get time
p = strchr(p, ',')+1;
float timef = atof(p);
uint32_t time = timef;
hour = time / 10000;
minute = (time % 10000) / 100;
seconds = (time % 100);
milliseconds = fmod(timef, 1.0) * 1000;
p = strchr(p, ',')+1;
// Serial.println(p);
if (p[0] == 'A')
fix = true;
else if (p[0] == 'V')
fix = false;
else
return false;
// parse out latitude
p = strchr(p, ',')+1;
latitude = atof(p);
p = strchr(p, ',')+1;
if (p[0] == 'N') lat = 'N';
else if (p[0] == 'S') lat = 'S';
else if (p[0] == ',') lat = 0;
else return false;
// parse out longitude
p = strchr(p, ',')+1;
longitude = atof(p);
p = strchr(p, ',')+1;
if (p[0] == 'W') lon = 'W';
else if (p[0] == 'E') lon = 'E';
else if (p[0] == ',') lon = 0;
else return false;
// speed
p = strchr(p, ',')+1;
speed = atof(p);
// angle
p = strchr(p, ',')+1;
angle = atof(p);
p = strchr(p, ',')+1;
uint32_t fulldate = atof(p);
day = fulldate / 10000;
month = (fulldate % 10000) / 100;
year = (fulldate % 100);
// we dont parse the remaining, yet!
return true;
}
return false;
}
char Adafruit_GPS::read(void) {
char c = 0;
if (paused) return c;
#ifdef __AVR__
if(gpsSwSerial) {
if(!gpsSwSerial->available()) return c;
c = gpsSwSerial->read();
} else
#endif
{
if(!gpsHwSerial->available()) return c;
c = gpsHwSerial->read();
}
//Serial.print(c);
if (c == '$') {
currentline[lineidx] = 0;
lineidx = 0;
}
if (c == '\n') {
currentline[lineidx] = 0;
if (currentline == line1) {
currentline = line2;
lastline = line1;
} else {
currentline = line1;
lastline = line2;
}
//Serial.println("----");
//Serial.println((char *)lastline);
//Serial.println("----");
lineidx = 0;
recvdflag = true;
}
currentline[lineidx++] = c;
if (lineidx >= MAXLINELENGTH)
lineidx = MAXLINELENGTH-1;
return c;
}
#ifdef __AVR__
// Constructor when using SoftwareSerial or NewSoftSerial
#if ARDUINO >= 100
Adafruit_GPS::Adafruit_GPS(SoftwareSerial *ser)
#else
Adafruit_GPS::Adafruit_GPS(NewSoftSerial *ser)
#endif
{
common_init(); // Set everything to common state, then...
gpsSwSerial = ser; // ...override gpsSwSerial with value passed.
}
#endif
// Constructor when using HardwareSerial
Adafruit_GPS::Adafruit_GPS(Stream *ser) {
common_init(); // Set everything to common state, then...
gpsHwSerial = ser; // ...override gpsHwSerial with value passed.
}
// Initialization code used by all constructor types
void Adafruit_GPS::common_init(void) {
#ifdef __AVR__
gpsSwSerial = NULL; // Set both to NULL, then override correct
#endif
gpsHwSerial = NULL; // port pointer in corresponding constructor
recvdflag = false;
paused = false;
lineidx = 0;
currentline = line1;
lastline = line2;
hour = minute = seconds = year = month = day =
fixquality = satellites = 0; // uint8_t
lat = lon = mag = 0; // char
fix = false; // boolean
milliseconds = 0; // uint16_t
latitude = longitude = geoidheight = altitude =
speed = angle = magvariation = HDOP = 0.0; // float
}
void Adafruit_GPS::begin(uint16_t baud)
{
#ifdef __AVR__
if(gpsSwSerial)
gpsSwSerial->begin(baud);
else
gpsHwSerial->begin(baud);
#endif
delay(10);
}
void Adafruit_GPS::sendCommand(char *str) {
#ifdef __AVR__
if(gpsSwSerial)
gpsSwSerial->println(str);
else
#endif
gpsHwSerial->println(str);
}
boolean Adafruit_GPS::newNMEAreceived(void) {
return recvdflag;
}
void Adafruit_GPS::pause(boolean p) {
paused = p;
}
char *Adafruit_GPS::lastNMEA(void) {
recvdflag = false;
return (char *)lastline;
}
// read a Hex value and return the decimal equivalent
uint8_t Adafruit_GPS::parseHex(char c) {
if (c < '0')
return 0;
if (c <= '9')
return c - '0';
if (c < 'A')
return 0;
if (c <= 'F')
return (c - 'A')+10;
return 0;
}
boolean Adafruit_GPS::waitForSentence(char *wait4me, uint8_t max) {
char str[20];
uint8_t i=0;
while (i < max) {
if (newNMEAreceived()) {
char *nmea = lastNMEA();
strncpy(str, nmea, 20);
str[19] = 0;
i++;
if (strstr(str, wait4me))
return true;
}
}
return false;
}
boolean Adafruit_GPS::LOCUS_StartLogger(void) {
sendCommand(PMTK_LOCUS_STARTLOG);
recvdflag = false;
return waitForSentence(PMTK_LOCUS_LOGSTARTED);
}
boolean Adafruit_GPS::LOCUS_ReadStatus(void) {
sendCommand(PMTK_LOCUS_QUERY_STATUS);
if (! waitForSentence("$PMTKLOG"))
return false;
char *response = lastNMEA();
uint16_t parsed[10];
uint8_t i;
for (i=0; i<10; i++) parsed[i] = -1;
response = strchr(response, ',');
for (i=0; i<10; i++) {
if (!response || (response[0] == 0) || (response[0] == '*'))
break;
response++;
parsed[i]=0;
while ((response[0] != ',') && (response[0] != '*') && (response[0] != 0))
{
parsed[i] *= 10;
char c = response[0];
if (isdigit(c))
parsed[i] += c - '0';
else
parsed[i] = c;
response++;
}
}
LOCUS_serial = parsed[0];
LOCUS_type = parsed[1];
if (isalpha(parsed[2])) {
parsed[2] = parsed[2] - 'a' + 10;
}
LOCUS_mode = parsed[2];
LOCUS_config = parsed[3];
LOCUS_interval = parsed[4];
LOCUS_distance = parsed[5];
LOCUS_speed = parsed[6];
LOCUS_status = !parsed[7];
LOCUS_records = parsed[8];
LOCUS_percent = parsed[9];
return true;
}
// Standby Mode Switches
boolean Adafruit_GPS::standby(void) {
if (inStandbyMode) {
return false; // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS
}
else {
inStandbyMode = true;
sendCommand(PMTK_STANDBY);
//return waitForSentence(PMTK_STANDBY_SUCCESS); // don't seem to be fast enough to catch the message, or something else just is not working
return true;
}
}
boolean Adafruit_GPS::wakeup(void) {
if (inStandbyMode) {
inStandbyMode = false;
sendCommand(""); // send byte to wake it up
return waitForSentence(PMTK_AWAKE);
}
else {
return false; // Returns false if not in standby mode, nothing to wakeup
}
}
/***********************************
This is the Adafruit GPS library - the ultimate GPS library
for the ultimate GPS module!
Tested and works great with the Adafruit Ultimate GPS module
using MTK33x9 chipset
------> http://www.adafruit.com/products/746
Pick one up today at the Adafruit electronics shop
and help support open source hardware & software! -ada
Adafruit invests time and resources providing this open source code,
please support Adafruit and open-source hardware by purchasing
products from Adafruit!
Written by Limor Fried/Ladyada for Adafruit Industries.
BSD license, check license.txt for more information
All text above must be included in any redistribution
****************************************/
#ifndef _ADAFRUIT_GPS_H
#define _ADAFRUIT_GPS_H
#ifdef __AVR__
#if ARDUINO >= 100
#include <SoftwareSerial.h>
#else
#include <NewSoftSerial.h>
#endif
#endif
// different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
#define PMTK_SET_NMEA_UPDATE_1HZ "$PMTK220,1000*1F"
#define PMTK_SET_NMEA_UPDATE_5HZ "$PMTK220,200*2C"
#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
// turn on only the second sentence (GPRMC)
#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
// turn on GPRMC and GGA
#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn on ALL THE DATA
#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// turn off output
#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
#define PMTK_LOCUS_STARTLOG "$PMTK185,0*22"
#define PMTK_LOCUS_LOGSTARTED "$PMTK001,185,3*3C"
#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
#define LOCUS_OVERLAP 0
#define LOCUS_FULLSTOP 1
// standby command & boot successful message
#define PMTK_STANDBY "$PMTK161,0*28"
#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36" // Not needed currently
#define PMTK_AWAKE "$PMTK010,002*2D"
// ask for the release and version
#define PMTK_Q_RELEASE "$PMTK605*31"
// request for updates on antenna status
#define PGCMD_ANTENNA "$PGCMD,33,1*6C"
#define PGCMD_NOANTENNA "$PGCMD,33,0*6C"
// how long to wait when we're looking for a response
#define MAXWAITSENTENCE 5
// #if ARDUINO >= 100
// #include "Arduino.h"
// #if defined (__AVR__) && !defined(__AVR_ATmega32U4__)
// #include "SoftwareSerial.h"
// #endif
// #else
// #include "WProgram.h"
// #include "NewSoftSerial.h"
// #endif
#include "application.h"
class Adafruit_GPS {
public:
void begin(uint16_t baud);
// #ifdef __AVR__
// #if ARDUINO >= 100
// Adafruit_GPS(SoftwareSerial *ser); // Constructor when using SoftwareSerial
// #else
// Adafruit_GPS(Serial *ser); // Constructor when using NewSoftSerial
// #endif
// #endif
Adafruit_GPS(Stream *ser); // Constructor when using HardwareSerial
char *lastNMEA(void);
boolean newNMEAreceived();
void common_init(void);
void sendCommand(char *);
void pause(boolean b);
boolean parseNMEA(char *response);
uint8_t parseHex(char c);
char read(void);
boolean parse(char *);
void interruptReads(boolean r);
boolean wakeup(void);
boolean standby(void);
uint8_t hour, minute, seconds, year, month, day;
uint16_t milliseconds;
float latitude, longitude, geoidheight, altitude;
float speed, angle, magvariation, HDOP;
char lat, lon, mag;
boolean fix;
uint8_t fixquality, satellites;
boolean waitForSentence(char *wait, uint8_t max = MAXWAITSENTENCE);
boolean LOCUS_StartLogger(void);
boolean LOCUS_ReadStatus(void);
uint16_t LOCUS_serial, LOCUS_records;
uint8_t LOCUS_type, LOCUS_mode, LOCUS_config, LOCUS_interval, LOCUS_distance, LOCUS_speed, LOCUS_status, LOCUS_percent;
private:
boolean paused;
uint8_t parseResponse(char *response);
// #ifdef __AVR__
// #if ARDUINO >= 100
// SoftwareSerial *gpsSwSerial;
// #else
// NewSoftSerial *gpsSwSerial;
// #endif
// #endif
Stream *gpsHwSerial;
};
#endif
// This #include statement was automatically added by the Spark IDE.
#include "Adafruit_GPS.h"
#include <math.h>
#define mySerial Serial1
Adafruit_GPS GPS(&mySerial);
// Set GPSECHO to 'false' to turn off echoing the GPS data to the Serial console
// Set to 'true' if you want to debug and listen to the raw GPS sentences.
#define GPSECHO false
// this keeps track of whether we're using the interrupt
// off by default!
boolean usingInterrupt = false;
#define APP_VERSION 10
byte bufferSize = 64;
byte bufferIndex = 0;
char buffer[65];
char c;
uint32_t timer;
void setup() {
// 9600 NMEA is the default baud rate for Adafruit MTK GPS's- some use 4800
GPS.begin(9600);
mySerial.begin(9600);
Serial.begin(115200);
// uncomment this line to turn on RMC (recommended minimum) and GGA (fix data) including altitude
GPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
// Set the update rate
GPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // 1 Hz update rate
// For the parsing code to work nicely and have time to sort thru the data, and
// print it out we don't suggest using anything higher than 1 Hz
// Request updates on antenna status, comment out to keep quiet
GPS.sendCommand(PGCMD_NOANTENNA);
// the nice thing about this code is you can have a timer0 interrupt go off
// every 1 millisecond, and read data from the GPS for you. that makes the
// loop code a heck of a lot easier!
delay(1000);
// Ask for firmware version
mySerial.println(PMTK_Q_RELEASE);
timer = millis();
Spark.publish("GPS", "{ status: \"started up! "+String(APP_VERSION)+"\"}", 60, PRIVATE );
IPAddress myIP = WiFi.localIP();
Spark.publish("MY_IP",
String(myIP[0]) + "." + String(myIP[1]) + "." + String(myIP[2]) + "." + String(myIP[3]),
60, PRIVATE );
}
void loop() {
// in case you are not using the interrupt above, you'll
// need to 'hand query' the GPS, not suggested :(
if (! usingInterrupt) {
// read data from the GPS in the 'main loop'
char c = GPS.read();
// if you want to debug, this is a good time to do it!
if (GPSECHO)
if (c) Serial.print(c);
}
// if a sentence is received, we can check the checksum, parse it...
if (GPS.newNMEAreceived()) {
// a tricky thing here is if we print the NMEA sentence, or data
// we end up not listening and catching other sentences!
// so be very wary if using OUTPUT_ALLDATA and trytng to print out data
//Serial.println(GPS.lastNMEA()); // this also sets the newNMEAreceived() flag to false
if (!GPS.parse(GPS.lastNMEA())) {
// this also sets the newNMEAreceived() flag to false
if (millis() - timer > 10000) {
Spark.publish("GPS", "{ last: \""+String(GPS.lastNMEA())+"\"}", 60, PRIVATE );
Spark.publish("GPS", "{ error: \"failed to parse\"}", 60, PRIVATE );
}
return; // we can fail to parse a sentence in which case we should just wait for another
}
}
// if millis() or timer wraps around, we'll just reset it
if (timer > millis()) timer = millis();
// approximately every 2 seconds or so, print out the current stats
if (millis() - timer > 10000) {
timer = millis(); // reset the timer
Serial.print("\nTime: ");
Serial.print(GPS.hour, DEC); Serial.print(':');
Serial.print(GPS.minute, DEC); Serial.print(':');
Serial.print(GPS.seconds, DEC); Serial.print('.');
Serial.println(GPS.milliseconds);
Serial.print("Date: ");
Serial.print(GPS.day, DEC); Serial.print('/');
Serial.print(GPS.month, DEC); Serial.print("/20");
Serial.println(GPS.year, DEC);
Serial.print("Fix: "); Serial.print((int)GPS.fix);
Serial.print(" quality: "); Serial.println((int)GPS.fixquality);
//if (GPS.fix)
//{
Serial.print("Location: ");
Serial.print(GPS.latitude, 4);
Serial.print(GPS.lat);
Serial.print(", ");
Serial.print(GPS.longitude, 4);
Serial.println(GPS.lon);
Serial.print("Speed (knots): "); Serial.println(GPS.speed);
Serial.print("Angle: "); Serial.println(GPS.angle);
Serial.print("Altitude: "); Serial.println(GPS.altitude);
Serial.print("Satellites: "); Serial.println((int)GPS.satellites);
//TODO: BETTER +/- for longitude
Spark.publish("GPS",
"{lat: " + String(convertDegMinToDecDeg(GPS.latitude))
+ ", lon: -" + String(convertDegMinToDecDeg(GPS.longitude))
+ ", a: " + String(GPS.altitude)
+ " }",
60, PRIVATE
);
Spark.publish("GPS",
+ "{ q: " + String(GPS.fixquality)
+ ", s: " + String((int)GPS.satellites)
+ " }",
60, PRIVATE
);
//}
//else
//{
Spark.publish("GPS_RAW", String(GPS.lastNMEA()), 60, PRIVATE );
//}
}
}
//http://arduinodev.woofex.net/2013/02/06/adafruit_gps_forma/
double convertDegMinToDecDeg (float degMin) {
double min = 0.0;
double decDeg = 0.0;
//get the minutes, fmod() requires double
min = fmod((double)degMin, 100.0);
//rebuild coordinates in decimal degrees
degMin = (int) ( degMin / 100 );
decDeg = degMin + ( min / 60 );
return decDeg;
}
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment